This PR adds a new class to manage threads

[juanjqo]

Hi @mmmarinho,

This PR adds the class sas::thread_manager (codename: loopancho) to manage threads. The main motivation is the standardisation of the SAS drivers (at least in the Adorno-lab::RAICo projects), which currently implement custom threads. This class is experimental, since I haven't tested it yet with real platforms. It is the first version and we can improve it.

Current features:

• Based on modern C++ and the standard library (no Boost =) )
• Support for priority levels (only for GNU/Linux)
• The class relies on sas::Clock for time computations.
• Thread-safety

Please let me know what you think and whether the design aligns with what you have in mind.

Minimal example

#include <sas_core/sas_thread_manager.hpp>
#include <iostream>
#include <thread>

int main() {
    int counter = 0;

    // Create and start thread
    sas::thread_manager tm("test", 0.1, [&counter]() {
        std::cout << ++counter << "\n";
    });

    tm.start();

    // Run for 1 second
    std::this_thread::sleep_for(std::chrono::seconds(1));

    // Clean up
    tm.stop();
    return 0;
}

CMake

cmake_minimum_required(VERSION 3.16)

project(minimal_example LANGUAGES CXX)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

include(FetchContent)
FetchContent_Declare(
    sas_core
    GIT_REPOSITORY https://github.com/juanjqo/sas_core.git
    GIT_TAG        jazzy_loopancho
)
set(ROS2_BUILD OFF CACHE BOOL "" FORCE)
FetchContent_MakeAvailable(sas_core)
add_executable(minimal_example main.cpp)
target_link_libraries(minimal_example PRIVATE sas_core_pure)

output

./minimal_example
**************************************************************************
sas::Clock (c) Murilo M. Marinho (murilomarinho.info) 2016-2026 LGPLv3
**************************************************************************
1
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8
9
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11
17:05:20: The command "/home/juanjqo/Documents/sas_core_test_examples/thread_manager/minimal_example/build/Desktop_Qt_6_10_1-Debug/minimal_example" finished successfully.

Kind regards,

Juancho

[mmmarinho]

Thanks for the submission. Some suggestions!

[mmmarinho]

Class names are PascalCase I think?

[mmmarinho]

I recommend adding a get_clock() method that returns a const& so that you don't have to copy all the methods and make this a bit easier to maintain.

[mmmarinho]

Maybe you don't need to return early but I'm happy to be corrected. Isn't it ok to always check if it's joinable?

[mmmarinho]

Is there any specific source for this or an original thought? Either way it's fine, just curiosity.

[mmmarinho]

Cool stuff